#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>

#include <core/follow_path_task.hpp>

FollowPathTask::FollowPathTask(std::shared_ptr<Context> context)
    : Task("FollowPath", context)
{
}

bool FollowPathTask::OnInit()
{
    context->ActiveNode(Context::StateController);
    context->ActiveNode(Context::NodeName::PathController);
    context->DeactiveNode(Context::NodeName::LocalPlaner);
    return true;
}

int FollowPathTask::OnStep(double &precent)
{
    precent = 0;
    return 1;
}

bool FollowPathTask::OnCancle()
{
    return true;
}